My new 10 DOF (degrees of freedom) IMU (inertial measurement unit) is here!
Why I like it:
– MPU9250 chip with the 6500 acceletometer/gyro unit. This one is better than the common 6000/6050 unit I already had. The gyro in particular has less drift.
– The board is small so I can place it closer to the center of gravity. This will avoids polluting the accelerometer readings when the UAV rotates
– SPI interface. I’ll be able to read this from the raspberry pi at 4Khz ideally. It has a fifo so I shouldn’t be bothered by thread jitter. Reading the gyro and accelerometer at 4Khz should result in 384Kbits/s which is below the 1Mbit/s SPI clock rate of the MPU9250.
I have to write a new IO_Board implementation for the brain but it’s not a big deal. Most of the code is the same as the current crius board code I’m using.